[Joe Derrick]

Hey there, try adding or modifying your subsystem to this

public class Pnuematics extends Subsystem {

public boolean toggle;
	
    public void solenoidIn() {
    	   ds1.set(DoubleSolenoid.Value.kReverse);
	toggle = true;
    }
       
    public void solenoidOut(){
    	   ds1.set(DoubleSolenoid.Value.kForward);
toggle = false;
       }
    	
}

these are two methods which when called will set the solenoid in a direction then flip the state of the boolean

then your Command to this

public class toggleSolenoid extends Command {

    public toggleSolenoid() {	
    	requires(Robot.pnue);    	
    }

protected void initialize() {
	if (Robot.pnue.toggle == true)
    	{
    	Robot.pnue.solenoidOut();
    	}
    	else if(Robot.pnue.toggle == false){
    	Robot.pnue.solenoidIn();
    	}
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
}

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
return true;
}

    // Called once after isFinished returns true
    protected void end() {
    
    }
protected void interrupted() {
    	end();
    }
}

since solenoids retain their "state" when switched, they do not need to be told continuously what do do. they are set to forward or reverse one time in the "initialize" part of the command depending on the state of the boolean. Then the command finishes immediately.

the OI should be

toggleSolenoid.whenPressed(new toggleSolenoid());

Best of luck, hope this helps. Once mastered, command based is the way to go!

Also there may be other ways to acheive a "toggle" but this has worked for us in the past. I did see a "toggle option" in the OI this year but have yet to test it.